Integrated bridge detection system based on unmanned aerial vehicle

Abstract

The invention belongs to the technical field of unmanned aerial vehicle bridge detection, and particularly relates to an unmanned aerial vehicle-based integrated bridge detection system, which comprises an unmanned aerial vehicle, a detection module, a cleaning module and a comprehensive information processing control module, the unmanned aerial vehicle mounted measurement module is used for collecting boundary dimension data and surface image data of a bridge, and the unmanned aerial vehicle mounted cleaning module is used for cleaning the surface of the bridge; the comprehensive information processing control module is used for establishing a bridge coordinate model, planning an inspection route, detecting and marking defects and generating a detection report; the cleaning module comprises a ground high-pressure air source and a cleaning pipe, the unmanned aerial vehicle mounts the cleaning pipe to pass along the surface of the bridge, and surface image data are collected after the surface of the bridge is cleaned; according to the invention, the multiple unmanned aerial vehicles cooperate to inspect the bridge, dirt on the surface of the bridge is cleaned before or during inspection, and the accurate bridge detection effect is ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle (UAV) bridge inspection, and specifically relates to an integrated bridge inspection system based on UAVs. Background Art

[0002] In recent years, with the rapid development of infrastructure construction in China, a large number of infrastructure facilities have been put into use, which has also brought a huge market space for infrastructure maintenance. In terms of bridges, according to statistics, the total number of existing bridges in China exceeds one million, and 40% of the bridges have a service life of more than 25 years, belonging to the "aging" stage. Considerable efforts need to be invested in the later-stage inspection and maintenance of bridges in order to evaluate the safety of bridge use and plan the repair of bridges based on inspection data, ensuring the safety of bridge use.

[0003] Traditional bridge inspection is carried out through manual inspection or inspection vehicle inspection. Manual inspection has problems such as a high difficulty coefficient, large capital investment, detection blind spots, difficulty in ensuring the safety of inspection personnel, low efficiency, and large manpower investment. Inspection vehicle inspection has problems such as a high difficulty coefficient, large capital investment, detection blind spots, limited applicability, and low efficiency. Therefore, neither of these two methods can meet the growing demand for bridge inspection and maintenance.

[0004] The existing popular remote UAV bridge appearance inspection method is to control the UAV manually to take pictures and inspect the bridge surface. Generally, two professional technicians respectively control the movement of the fuselage and the inspection camera to fly and collect data. The collected data is displayed on the ground station monitoring screen in real time, and the inspection personnel judge whether there are diseases based on the monitoring.

[0005] This method can effectively reduce some deficiencies of manual inspection and inspection vehicle inspection, but there are still the following problems: First, UAV bridge inspection has high requirements for the level of UAV pilots, and it is extremely easy to have a crash event in some complex terrain environments, resulting in an increase in inspection costs and a decrease in inspection effects. Second, the image quality of existing UAV bridge inspections is uneven, lacking overall performance structure parameter indicators for the bridge, resulting in misjudgment of the damage degree of the bridge. Third, in some complex environments, such as when the bridge has been unoccupied for a long time or the number of passers-by is small, and there are dust, impurities, or sundries such as leaves and plastic bags attached to the bridge surface, it is very easy to have detection blind spots or detection errors in bridge inspection by UAV patrol, resulting in detection loopholes. Summary of the Invention

[0006] In order to make up for the deficiencies of the existing technology, the present invention proposes an integrated bridge inspection system based on UAVs, which conducts bridge patrol through the cooperation of multiple UAVs and cleans the dirt on the bridge surface before or during the patrol to ensure accurate bridge inspection results, so as to accurately determine the state of the bridge and thus decide the treatment method of the bridge.

[0007] The technical solution adopted by the present invention to solve its technical problems is as follows: An integrated bridge detection system based on an unmanned aerial vehicle (UAV) of the present invention includes a UAV, a detection module, a cleaning module, and a comprehensive information processing and control module; The UAV is equipped with a measurement module to collect the external dimension data and surface image data of the bridge, and the UAV is equipped with a cleaning module to clean the surface of the bridge; The comprehensive information processing and control module is used to establish a bridge coordinate model, plan an inspection route, detect and mark defects, and generate a detection report; The cleaning module includes a ground high-pressure gas source and a cleaning pipe. Impact holes are provided on the surface of the cleaning pipe. The UAV is connected to at least both ends of the cleaning pipe. The UAV is equipped with the cleaning pipe and passes along the surface of the bridge. The cleaning pipe sprays high-pressure gas to clean the surface of the bridge. After the surface of the bridge is cleaned, the surface image data is collected.

[0008] Preferably, at least three UAVs are provided. Multiple groups of UAVs do not have to be equipped with the cleaning pipe or the detection module at the same time.

[0009] Preferably, the UAV drives the cleaning pipe to move from one side to the other side in the width direction of the bridge, and the cleaning pipe is pulled by the UAVs at both ends to keep as straight as possible.

[0010] Preferably, the UAV drives the cleaning pipe to bend from a straight line into a circular ring, and the circular ring formed by the cleaning pipe is sleeved on the bridge pier, and the cleaning pipe cleans the surface of the bridge pier.

[0011] Preferably, there is a height difference between the UAVs on the circular ring formed by the cleaning pipe.

[0012] Preferably, the UAV also includes a reciprocating motion along the circumferential direction of the bridge pier, and the circumferential motion ranges of the UAVs do not overlap.

[0013] Preferably, a counterweight block is installed on the cleaning pipe. After the counterweight block is installed on the cleaning pipe on the UAV, the cleaning pipe is in a drooping and bent state. The drooping part of the cleaning pipe cleans the part of the bridge pier below the water surface, and the ground high-pressure gas source conveys pulsed air flow to the cleaning pipe.

[0014] Preferably, elastic claws are provided on the surface of the cleaning pipe, and the elastic claws contact the surface of the bridge.

[0015] The beneficial effects of the present invention are as follows: 1. An integrated bridge detection system based on an unmanned aerial vehicle (UAV) of the present invention first preliminarily collects the dimensions of a bridge and its surrounding terrain through a detection module to generate a three-dimensional coordinate model. Then, subsequent cleaning and detection path planning are carried out based on the three-dimensional coordinate model to avoid misjudgment during the operation of the UAV by the operator due to the complexity of the bridge structure and the surrounding terrain, which may cause a collision and crash accident of the UAV. At the same time, after generating the three-dimensional coordinate model, the UAV is equipped with a cleaning pipe to clean the dirt attached to the bridge surface and the pier surface along the cleaning path, ensuring that the bridge surface and the pier surface are clean, so that the collected bridge image data is accurate and clear, improving the accuracy of subsequent detection and annotation of defects, thereby avoiding errors and detection blind spots in bridge detection, which may affect the safety assessment of the bridge in use and the repair plan of the bridge.

[0016] 2. An integrated bridge detection system based on an unmanned aerial vehicle (UAV) of the present invention is provided with a cleaning pipe, elastic claws, and counterweights. When cleaning the bridge surface and the above-water part of the pier, the UAV pulls the cleaning pipe to keep it taut, ensuring good cleaning effect on the bridge surface. At the same time, when cleaning the underwater part of the pier, the UAV relaxes the cleaning pipe and cooperates with the counterweights to make the cleaning pipe droop and bend so that the cleaning pipe can enter below the water surface to clean the underwater part of the pier. And in cooperation with pulsed air flow and counterweights, the drooping part of the cleaning pipe will reciprocally approach and impact the surface of the underwater part of the pier, improving the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below with reference to the accompanying drawings.

[0018] Figure 1 is a flowchart of the detection system of the present invention; Figure 2 is a schematic diagram of the position of the UAV and the cleaning pipe when the detection system of the present invention cleans the bridge deck; Figure 3 is a schematic diagram of the structure of the cleaning pipe in the detection system of the present invention; Figure 4 is a schematic diagram of the shape change of the cleaning pipe before (Ⅰ), during the detection preparation process (Ⅱ), and at the start of detection (Ⅲ) of the detection system of the present invention for the pier; Figure 5 is a schematic diagram of the position of the UAV when the detection system of the present invention detects the above-water part of the pier; Figure 6 is a schematic diagram of the position of the UAV and the cleaning pipe when the detection system of the present invention detects the underwater part of the pier; In the figure: unmanned aerial vehicle 1, cleaning pipe 2, impact holes 21, ground high-pressure gas source 22, elastic claws 23, counterweights 24, pier 3. DETAILED DESCRIPTION OF THE INVENTION

[0019] In order to make the technical means, creative features, achieved objectives and effects realized by the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

[0020] As Figures 1 to 6 shown, a kind of integrated bridge detection system based on unmanned aerial vehicle of the present invention includes an unmanned aerial vehicle 1, a detection module, a cleaning module and a comprehensive information processing and control module; The unmanned aerial vehicle 1 is equipped with a measurement module to collect the external dimension data of the bridge and the surface image data of the bridge, and the unmanned aerial vehicle 1 is equipped with a cleaning module to clean the surface of the bridge; The comprehensive information processing and control module is used to establish a bridge coordinate model, plan an inspection route, detect and mark defects, and generate a detection report; The cleaning module includes a ground high-pressure gas source 22 and a cleaning pipe 2. Impact holes 21 are provided on the surface of the cleaning pipe 2. The unmanned aerial vehicle 1 is at least connected to both ends of the cleaning pipe 2. The unmanned aerial vehicle 1 is equipped with the cleaning pipe 2 to pass along the surface of the bridge, and the cleaning pipe 2 sprays high-pressure gas to clean the surface of the bridge. After the surface of the bridge is cleaned, the surface image data is collected; Quick-release structures capable of being interconnected are provided on the unmanned aerial vehicle 1, the detection module and the cleaning pipe 2, so that the detection module and the cleaning pipe 2 can be disassembled and assembled on the unmanned aerial vehicle 1 conveniently and quickly; The detection module includes at least an ultrasonic sensor, a laser sensor and a camera. The detection module can measure the external dimensions of the bridge and the terrain around the bridge and collect the surface image data of the bridge; The comprehensive information processing and control module includes: A coordinate model unit, which can establish a three-dimensional coordinate model according to the external dimension data of the bridge and the terrain around it collected by the detection module. After that, during subsequent detection, the relative position of the unmanned aerial vehicle 1 relative to the bridge is marked and displayed according to the distance data detected by the unmanned aerial vehicle 1, so as to reduce the complexity and difficulty of the flight task of the unmanned aerial vehicle 1 and avoid misjudging the distance between the unmanned aerial vehicle 1 and the bridge, resulting in a crash accident of the unmanned aerial vehicle 1; A route planning unit, which can plan the inspection path of the unmanned aerial vehicle 1 and the path for the unmanned aerial vehicle 1 to clean the surface of the bridge according to the three-dimensional coordinate model of the bridge, so as to avoid detection blind spots when the drone operator controls the unmanned aerial vehicle 1 for detection, causing detection loopholes and affecting the accuracy of the detection results; A defect detection unit, which analyzes and judges the collected surface image data of the bridge, detects various defects and their positions on the surface of the bridge, and then marks the detected defect positions on the three-dimensional coordinate model of the bridge; A report unit, which generates a bridge detection report for reference according to the detected types and position information of the surface defects of the bridge; When inspecting an old bridge or a bridge that has been unoccupied for a long time, the staff first mount the inspection module on the drone 1. Then, the drone operator controls the drone 1 to scan and inspect the bridge and the surrounding terrain, and collect the dimensional data of the bridge and the surrounding terrain. During this process, the relative distance between the drone 1 controlled by the operator and the bridge is relatively far to avoid a crash accident caused by the operator's unfamiliarity with the bridge structure or the complex surrounding terrain. After that, a three-dimensional coordinate model of the bridge and the surrounding terrain is established based on the collected dimensional data, and the flight path for subsequent inspection and cleaning of the drone 1 is planned according to the three-dimensional coordinate model; Then, the staff removes the inspection module from the drone 1 and connects the cleaning pipe 2 to the drone 1, so that the drone operator controls the drone 1 to fly along the flight route during cleaning with the cleaning pipe 2 attached. The high-pressure gas in the ground high-pressure gas source 22 is ejected from the impact holes 21 on the cleaning pipe 2 to blow and impact the surface of the bridge, and clean up as much as possible the garbage such as dust, leaves, and waste plastic bags existing on the surface of the old bridge. At the same time, after the sundries on the surface of the bridge are cleaned up, the staff controls the drone 1 carrying the inspection module again to collect the image data of the bridge surface, so as to avoid various sundries existing on the old bridge or a bridge with few or no pedestrians for a long time, causing the surface of the bridge to be blocked and covered by sundries, resulting in a detection blind area, affecting the accuracy and authenticity of the image data of the bridge surface collected subsequently, and causing misjudgment, incorrect judgment or missed judgment of bridge defects, resulting in the generated inspection report not reflecting the true situation of the bridge, thus affecting the judgment of the treatment results for demolishing, maintaining, and repairing the old bridge.

[0021] As an implementation manner of the present invention, at least three drones 1 are provided, and multiple groups of drones 1 do not have to be mounted with the cleaning pipe 2 or the inspection module at the same time; When detecting the dimensional data of the bridge and the surrounding terrain, the staff mount the inspection module on three drones 1 at the same time, so that the three drones 1 collect the dimensional data of the bridge and the surrounding terrain at the same time, improving the efficiency of dimensional data collection, or using the three drones 1 to repeatedly collect and review the collected dimensional data with each other, improving the accuracy of the collected dimensional data, and further ensuring the accuracy and high precision of the established three-dimensional coordinate model, facilitating the subsequent operation of the drone operator to control the drone 1 to carry the cleaning pipe 2 to clean close to the bridge surface, and controlling the drone 1 to carry the inspection module to collect the bridge surface images; Meanwhile, when the cleaning pipe 2 is mounted on the UAV 1, the ground high-pressure gas source 22 is placed in a stable area close to the flight path of the UAV 1, and the ground high-pressure gas source 22 is connected to the cleaning pipe 2 through a hose, ensuring stable transmission of high-pressure gas between the ground high-pressure gas source 22 and the cleaning pipe 2, and preventing the pipeline between the ground high-pressure gas source 22 and the cleaning pipe 2 from being too long and heavy, which may affect the normal flight of the UAV 1 and increase the difficulty for the operator to control the flight of the UAV 1: When the size of the bridge is relatively small and the length of the cleaning pipe 2 is relatively short, two UAVs 1 are mounted at both ends of the cleaning pipe 2, and another UAV 1 is mounted with a detection module. Then, the UAV 1 mounted with the cleaning pipe 2 is in the front, and the UAV 1 mounted with the detection module is in the rear, so as to synchronously clean the bridge surface and collect the images of the bridge surface, improving the efficiency of bridge detection and ensuring the effect of bridge detection: When the size of the bridge is relatively large and the length of the cleaning pipe 2 is relatively large, three UAVs 1 are evenly mounted on the cleaning pipe 2, ensuring that when the UAV 1 mounted with the cleaning pipe 2 moves along the bridge surface, the cleaning pipe 2 can remain relatively stable, preventing the cleaning pipe 2 from shaking or swaying, which may affect the stable operation of the UAV 1. At the same time, after the UAV 1 drives the cleaning pipe 2 to complete the cleaning of the bridge surface, the staff removes the cleaning pipe 2 from the UAV 1 and then mounts the detection module on the UAV 1 to complete the collection of the images of the bridge surface.

[0022] As an embodiment of the present invention, the UAV 1 drives the cleaning pipe 2 to move from one side to the other side along the width direction of the bridge, and the cleaning pipe 2 is pulled by the UAVs 1 at both ends to keep it as straight as possible; Since the length of the bridge is much greater than the width of the bridge, when the UAV 1 mounted with the cleaning pipe 2 moves along the length direction of the bridge for a relatively long distance, the impurities cleaned by the cleaning pipe 2 will gradually increase and accumulate, resulting in the cleaning pipe 2 being unable to completely clean the impurities during movement, causing errors in the subsequently collected images of the bridge surface and affecting the accuracy of defect detection; Meanwhile, since the width of the bridge is less than the length of the bridge, when the UAV 1 mounted with the cleaning pipe 2 moves along the width direction, when the cleaning pipe 2 moves from one side to the other side of the bridge, the UAV 1 will stop moving and drive the cleaning pipe 2 to return to the initial side to start cleaning again. During this process, the distance that the cleaning pipe 2 moves along the bridge surface is relatively short, and the number of impurities cleaned by the cleaning pipe 2 is also relatively small, which will not cause significant adverse interference to the cleaning of the cleaning pipe 2, ensuring a good cleaning effect on the bridge surface and thus ensuring the accuracy of the bridge detection results; Meanwhile, since the cleaning pipe 2 is mounted below the drone 1, when the drone 1 drives the cleaning pipe 2 to slowly move along the bridge surface, under the action of gravity, the cleaning pipe 2 will sag downward, which easily leads to a large height difference between the middle position and the two end positions of the cleaning pipe 2, affecting the cleaning effect of the two end positions of the cleaning pipe 2 on the bridge surface. Therefore, the drone 1 is controlled to pull the two ends of the cleaning pipe 2, so that the cleaning pipe 2 is kept as straight as possible, reducing the height difference between the two ends and the middle position of the cleaning pipe 2, so that when the cleaning pipe 2 is close to the bridge surface and cleans the bridge surface, the cleaning pipe 2 can stably and effectively clean the bridge surface; Meanwhile, since gas is ejected from the impact holes 21 on the cleaning pipe 2 to blow and clean the bridge surface, and the drone 1 pulls the two ends of the cleaning pipe 2 to keep the cleaning pipe 2 in a taut state, it can also reduce the amplitude of shaking and swinging of the cleaning pipe 2 under the action of the ejected air flow, thereby avoiding affecting the cleaning effect of the bridge surface and avoiding affecting the normal flight of the drone 1.

[0023] As an embodiment of the present invention, the drone 1 drives the cleaning pipe 2 to bend from a straight line into a circular ring shape, and the circular ring formed by the cleaning pipe 2 is sleeved on the bridge pier 3 of the bridge, and the cleaning pipe 2 cleans the surface of the bridge pier 3; When detecting the bridge pier 3 of the bridge, the staff evenly connects the drone 1 to the cleaning pipe 2, and then makes the drone 1 approach the bridge pier 3 to be cleaned. Then, the staff controls the drone 1 to move: when the three drones 1 are respectively connected to the two ends and the middle position of the cleaning pipe 2, keep the relative position of the drone 1 at the middle position of the cleaning pipe 2 unchanged, and the two drones 1 at the two end positions of the cleaning pipe 2 gradually move along an arc, driving the cleaning pipe 2 to gradually bend into a circular ring shape. During this process, the bridge pier 3 is sleeved between the circular rings formed by the cleaning pipe 2. Then, control the three drones 1 to drive the cleaning pipe 2 to move along the surface of the bridge pier 3, and use the gas ejected from the cleaning pipe 2 for cleaning to ensure the accuracy of the subsequent detection effect of the bridge.

[0024] As an embodiment of the present invention, there is a height difference between the drones 1 on the circular ring formed by the cleaning pipe 2; Since the circular ring shape formed by the cleaning pipe 2 is sleeved on the bridge pier 3, the positions of the drones 1 at the two ends of the cleaning pipe 2 are relatively close to each other, and the possibility of collision between the drones 1 is relatively large. Therefore, when the cleaning pipe 2 forms a circular ring shape, control the drones 1 to have a height difference to avoid the possibility of collision between the drones 1 at the two ends of the cleaning pipe 2 and crashing, ensuring the safe operation of the drones 1.

[0025] As an embodiment of the present invention, the drone 1 further includes a reciprocating motion along the circumferential direction of the pier 3, and the circumferential motion ranges of the drones 1 do not overlap; By the reciprocating motion of the drone 1 along the circumferential direction of the pier 3, the drone 1 will drive the cleaning pipe 2 to continuously rotate in the circumferential direction, increasing the cleaning effect of the cleaning pipe 2 on the surface of the pier 3 and improving the cleaning efficiency.

[0026] As an embodiment of the present invention, a counterweight 24 is installed on the cleaning pipe 2. After the counterweight 24 is installed on the cleaning pipe 2 on the drone 1, the cleaning pipe 2 is in a drooping and bent state. The drooping part of the cleaning pipe 2 cleans the part of the pier 3 below the water surface, and the ground high-pressure air source 22 conveys pulsed air flow to the cleaning pipe 2; Since the bridge spans a river, a part of the lower part of the pier 3 will be immersed below the water surface. At the same time, aquatic plants and dirt will adhere to the part of the pier 3 below the water surface, resulting in the part of the pier 3 below the water surface being blocked, so that the detection module cannot clearly collect the surface image of the part of the pier 3 below the water surface, resulting in a detection blind area in the bridge detection and affecting the accuracy of the detection result. Therefore, when cleaning the part of the pier 3 below the water surface, the staff installs a counterweight 24 on the part of the cleaning pipe 2 between the two drones 1. The counterweight 24 is used to pull down the cleaning pipe 2 between the two drones 1 to cause it to droop and bend. Then, when cleaning the part of the pier 3 below the water surface: the drone 1 is above the water surface, and the part of the cleaning pipe 2 that droops and bends under the action of the counterweight 24 immerses below the water surface and this part is close to the surface of the pier 3, so as to ensure the cleaning effect on the part of the pier 3 below the water surface and avoid the situation that when the cleaning pipe 2 enters the water surface, the drone 1 will also contact the water surface, affecting the normal use of the drone 1 and the flight safety of the drone 1; At the same time, under the action of the pulsed air flow discharged from the cleaning pipe 2, since the cleaning pipe 2 is in a drooping and bent state, the cleaning pipe 2 will be pushed away from the pier 3 when the air flow is ejected, and will approach the pier 3 again when the air flow is intermittent. In this process, the cleaning pipe 2 may be close to, contact or impact the surface of the pier 3, cooperating with the pulsed air flow to improve the cleaning effect and efficiency on the underwater part of the pier 3.

[0027] As an embodiment of the present invention, elastic claws 23 are provided on the surface of the cleaning pipe 2, and the elastic claws 23 contact the surface of the bridge; Due to the long service time of the old bridge, long-term lack of traffic or few passers-by, some dust, leaves or plastic garbage will accumulate on the old bridge. And as the time for this part of dust, leaves and plastic garbage to stay on the bridge increases, it will adhere to the bridge surface and is not easy to be cleaned off. Therefore, elastic claws 23 are installed on the surface of the cleaning pipe 2, and the elastic claws 23 are used to clean and scrape off the relatively firmly adhered dirt, improving the cleaning effect, ensuring the subsequent bridge surface image acquisition effect and the accuracy of bridge defect detection. At the same time, in cooperation with the pulsed air flow discharged from the cleaning pipe 2, the dirt on the bridge surface is further purged and impacted, improving the cleaning effect on the bridge surface.

[0028] The specific working process is as follows: Quick-release structures capable of being interconnected are provided on the drone 1, the detection module and the cleaning pipe 2; The detection module at least includes an ultrasonic sensor, a laser sensor and a camera. The detection module can measure the external dimensions of the bridge and the terrain around the bridge and collect bridge surface image data; The comprehensive information processing and control module includes: A coordinate model unit, which can establish a three-dimensional coordinate model based on the external dimension data of the bridge and the surrounding terrain collected by the detection module. After that, during the subsequent detection process, the relative position of the drone 1 relative to the bridge is marked and displayed according to the distance data detected by the drone 1; A route planning unit, which can plan the inspection route of the drone 1 and the path for the drone 1 to clean the bridge surface according to the three-dimensional coordinate model of the bridge; A defect detection unit, which analyzes and judges the collected bridge surface image data, detects various defects and their positions on the bridge surface. After that, the detected defect positions are marked on the three-dimensional coordinate model of the bridge; A report unit, which generates a bridge detection report for reference according to the detected bridge surface defect types and defect position information; When detecting an old bridge or a bridge with long-term lack of traffic, the staff first mount the detection module on the drone 1, and then the drone pilot controls the drone 1 to scan and detect the bridge and the surrounding terrain, collecting the size data of the bridge and the surrounding terrain. During this process, the relative distance between the drone 1 controlled by the drone pilot and the bridge is relatively far. After that, a three-dimensional coordinate model of the bridge and the surrounding terrain is established according to the collected size data, and the flight path for the subsequent inspection and cleaning of the drone 1 is planned according to the three-dimensional coordinate model; Then, the staff removes the detection module on the drone 1 and connects the cleaning pipe 2 to the drone 1, so that the drone operator controls the drone 1 to carry the cleaning pipe 2 and fly along the flight route during cleaning, enabling the high-pressure gas in the ground high-pressure gas source 22 to spray out from the impact holes 21 on the cleaning pipe 2 to blow and impact the surface of the bridge. At the same time, after the debris on the bridge surface is cleaned up, the staff operates the drone 1 carrying the detection module again to collect the image data of the bridge surface to avoid detection blind spots; When detecting the dimensional data of the bridge and the surrounding terrain, the staff mounts the detection module on three drones 1 at the same time, so that the three drones 1 collect the dimensional data of the bridge and the surrounding terrain simultaneously, or use the three drones 1 to repeatedly collect and verify the collected dimensional data with each other; At the same time, when the drone 1 mounts the cleaning pipe 2, the ground high-pressure gas source 22 is placed in a stable area close to the flight of the drone 1, and the ground high-pressure gas source 22 is connected to the cleaning pipe 2 through a hose: When the size of the bridge is relatively small and the length of the cleaning pipe 2 is relatively short, two drones 1 are mounted at both ends of the cleaning pipe 2, and another drone 1 is mounted with the detection module. After that, the drone 1 mounting the cleaning pipe 2 is in the front, and the drone 1 mounting the detection module is in the rear, and the cleaning of the bridge surface and the collection of the image of the bridge surface are carried out synchronously: When the size of the bridge is relatively large and the length of the cleaning pipe 2 is relatively large, three drones 1 are evenly mounted on the cleaning pipe 2 to ensure that the cleaning pipe 2 can remain relatively stable when the drone 1 mounts the cleaning pipe 2 and moves along the bridge surface. At the same time, after the drone 1 drives the cleaning pipe 2 to complete the cleaning of the bridge surface, the staff removes the cleaning pipe 2 from the drone 1 and then mounts the detection module on the drone 1 to complete the collection of the image of the bridge surface; When the distance that the drone 1 mounts the cleaning pipe 2 and moves along the length direction of the bridge is relatively long, the impurities cleaned by the cleaning pipe 2 will gradually increase and accumulate, resulting in the cleaning pipe 2 not being able to completely clean the impurities during movement; At the same time, when the drone 1 mounts the cleaning pipe 2 and moves along the width direction, when the cleaning pipe 2 moves from one side to the other side of the bridge, the drone 1 will stop moving and drive the cleaning pipe 2 to return to the initial side to start cleaning again. During this process, the distance that the cleaning pipe 2 moves along the bridge surface is relatively short, and the number of impurities cleaned by the cleaning pipe 2 is also relatively small, which will not cause a large and adverse interference to the cleaning of the cleaning pipe 2 and ensure a good cleaning effect on the bridge surface; Meanwhile, control the drone 1 to pull both ends of the cleaning pipe 2, so that the cleaning pipe 2 is kept as straight as possible, reducing the height difference between both ends and the middle position of the cleaning pipe 2, so that when the cleaning pipe 2 is close to the bridge surface and cleaning the bridge surface, the cleaning pipe 2 can stably and effectively clean the bridge surface; Meanwhile, since gas is ejected from the impact holes 21 on the cleaning pipe 2 to blow and clean the bridge surface, and the drone 1 pulls both ends of the cleaning pipe 2, keeping the cleaning pipe 2 in a taut state can also reduce the amplitude of shaking and swinging of the cleaning pipe 2 under the action of the ejected air flow; When detecting the bridge pier 3 of the bridge, the staff evenly connect the drones 1 to the cleaning pipe 2. Then, make the drones 1 approach the bridge pier 3 to be cleaned. After that, the staff control the drones 1 to move: when the three drones 1 are respectively connected to both ends and the middle position of the cleaning pipe 2, keep the relative position of the drone 1 at the middle position of the cleaning pipe 2 unchanged, and the two drones 1 at both ends of the cleaning pipe 2 gradually move along an arc, driving the cleaning pipe 2 to gradually bend into a circular ring. During this process, make the bridge pier 3 be sleeved into the circular ring formed by the cleaning pipe 2. Then, control the three drones 1 to drive the cleaning pipe 2 to move along the surface of the bridge pier 3, and use the gas ejected from the cleaning pipe 2 for cleaning; When the cleaning pipe 2 forms a circular ring shape, control the height difference between the drones 1 to avoid the possibility of collision between the drones 1 at both ends of the cleaning pipe 2 and resulting in a crash; By the reciprocating movement of the drone 1 along the circumferential direction of the bridge pier 3, the drone 1 will drive the cleaning pipe 2 to continuously rotate in the circumferential direction, increasing the cleaning effect of the cleaning pipe 2 on the surface of the bridge pier 3 and improving the cleaning efficiency; When cleaning the part of the bridge pier 3 under the water surface, the staff install a counterweight 24 on the part of the cleaning pipe 2 between the two drones 1. Use the counterweight 24 to pull down and bend the cleaning pipe 2 between the two drones 1. Then, when cleaning the part of the bridge pier 3 under the water surface: the drone 1 is above the water surface, and the part of the cleaning pipe 2 that is bent downward under the action of the counterweight 24 is immersed below the water surface and this part is close to the surface of the bridge pier 3; Meanwhile, under the action of the pulsed air flow discharged from the cleaning pipe 2, since the cleaning pipe 2 is in a downward bent state, the cleaning pipe 2 will be pushed away from the bridge pier 3 when the air flow is ejected, and will approach the bridge pier 3 again when the air flow is intermittent. In this process, the cleaning pipe 2 may be close to, contact or impact the surface of the bridge pier 3, cooperating with the pulsed air flow to improve the cleaning effect and efficiency of the underwater part of the bridge pier 3; An elastic claw 23 is installed on the surface of the cleaning pipe 2. The elastic claw 23 is used to clean and scrape off the relatively firmly adhered dirt. At the same time, in cooperation with the pulsed air flow discharged from the cleaning pipe 2, the dirt on the bridge surface is further purged and impacted, improving the cleaning effect on the bridge surface.

[0029] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. An integrated bridge inspection system based on drones, characterized by: It includes a drone (1), a detection module, a cleaning module, and a comprehensive information processing control module; The drone (1) is equipped with a measuring module to collect the external dimension data of the bridge and the surface image data of the bridge, and the drone (1) is equipped with a cleaning module to clean the surface of the bridge; The comprehensive information processing control module is used to establish a bridge coordinate model, plan inspection routes, detect and mark defects, and generate inspection reports; The cleaning module comprises a ground high-pressure gas source (22) and a cleaning pipe (2); the surface of the cleaning pipe (2) is provided with an impact hole (21); the drone (1) is connected to at least two ends of the cleaning pipe (2); the drone (1) is mounted with the cleaning pipe (2) and passes along the surface of the bridge; the cleaning pipe (2) sprays high-pressure gas to clean the surface of the bridge; and surface image data is collected after the surface of the bridge is cleaned.

2. The integrated bridge inspection system based on drone according to claim 1, characterized in that: At least three drones (1) are provided, and multiple groups of drones (1) do not need to simultaneously mount cleaning tubes (2) or detection modules.

3. The integrated bridge inspection system based on drone according to claim 2 is characterized by: The drone (1) drives the cleaning pipe (2) to move along one side to the other side in the width direction of the bridge, and the cleaning pipe (2) is kept as straight as possible under the traction of the drones (1) at both ends thereof.

4. The integrated bridge inspection system based on drone according to claim 2 is characterized in that: The drone (1) drives the cleaning pipe (2) to bend from a straight line into a circular ring shape, the circular ring shape formed by the cleaning pipe (2) is sleeved on a bridge pier (3), and the cleaning pipe (2) cleans the surface of the bridge pier (3).

5. The integrated bridge inspection system based on drone according to claim 4 is characterized in that: There is a height difference between the drones (1) in the circular ring formed by the cleaning tube (2).

6. The integrated bridge inspection system based on drone according to claim 5, characterized in that: The drone (1) also includes a reciprocating motion along the circumferential direction of the bridge pier (3), and the ranges of the circular motions of the various drones (1) do not overlap.

7. The integrated bridge inspection system based on drone according to claim 4 is characterized by: A counterweight (24) is installed on the cleaning pipe (2). After the counterweight (24) is installed on the cleaning pipe (2) on the drone (1), the cleaning pipe (2) is in a drooping and bending state. The drooping part of the cleaning pipe (2) cleans the part of the bridge pier (3) located under the water surface. The ground high-pressure air source (22) delivers a pulse airflow to the cleaning pipe (2).

8. The integrated bridge inspection system based on drone according to claim 1, characterized in that: An elastic claw (23) is arranged on the surface of the cleaning pipe (2), and the elastic claw (23) contacts the surface of the bridge.

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